Zobrazeno 1 - 10
of 7 526
pro vyhledávání: '"Tendon-driven"'
This paper presents a learning-based approach for centralized position control of Tendon Driven Continuum Robots (TDCRs) using Deep Reinforcement Learning (DRL), with a particular focus on the Sim-to-Real transfer of control policies. The proposed co
Externí odkaz:
http://arxiv.org/abs/2412.04829
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model predictive
Externí odkaz:
http://arxiv.org/abs/2411.06183
Autor:
Zharkov, Kirill, Chaikovskii, Mikhail, Osipov, Yefim, Alshaowa, Rahaf, Borisov, Ivan, Kolyubin, Sergey
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria simultaneously, ev
Externí odkaz:
http://arxiv.org/abs/2410.07865
Autor:
Kawaharazuka, Kento, Kawamura, Masaya, Makino, Shogo, Asano, Yuki, Okada, Kei, Inaba, Masayuki
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large because expressing the complex routes of tendon wires in a geometric mo
Externí odkaz:
http://arxiv.org/abs/2409.00705
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also their inter
Externí odkaz:
http://arxiv.org/abs/2407.07618
Tendon-driven Continuum Robots (TDCRs) are promising candidates for applications in confined spaces due to their unique shape, compliance, and miniaturization capability. Non-parallel tendon routing for TDCRs have shown definite advantages including
Externí odkaz:
http://arxiv.org/abs/2409.13165
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to leverage the
Externí odkaz:
http://arxiv.org/abs/2409.09970
This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient iterative al
Externí odkaz:
http://arxiv.org/abs/2409.00616
Autor:
Li, Junnan, Chen, Lingyun, Ringwald, Johannes, Fortunic, Edmundo Pozo, Ganguly, Amartya, Haddadin, Sami
This study addresses the absence of an identification framework to quantify a comprehensive dynamic model of human and anthropomorphic tendon-driven fingers, which is necessary to investigate the physiological properties of human fingers and improve
Externí odkaz:
http://arxiv.org/abs/2408.13044
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion utilizing p
Externí odkaz:
http://arxiv.org/abs/2407.16054